EP0722290B1 - Determination magnetique de position et d'orientation - Google Patents

Determination magnetique de position et d'orientation Download PDF

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Publication number
EP0722290B1
EP0722290B1 EP94930045A EP94930045A EP0722290B1 EP 0722290 B1 EP0722290 B1 EP 0722290B1 EP 94930045 A EP94930045 A EP 94930045A EP 94930045 A EP94930045 A EP 94930045A EP 0722290 B1 EP0722290 B1 EP 0722290B1
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Prior art keywords
sensor
gradient
probe
coils
sensing volume
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EP94930045A
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German (de)
English (en)
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EP0722290A1 (fr
EP0722290A4 (fr
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David Ellis Acker
Ian Mcnulty
Robert C. Pacheco
Wayne Grandner
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Biosense Webster Inc
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Biosense Webster Inc
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Priority to EP06076975A priority Critical patent/EP1757949A3/fr
Priority to EP10177173.1A priority patent/EP2264474A3/fr
Priority to EP05075076A priority patent/EP1530057B1/fr
Priority to EP10177196.2A priority patent/EP2264475B1/fr
Publication of EP0722290A1 publication Critical patent/EP0722290A1/fr
Publication of EP0722290A4 publication Critical patent/EP0722290A4/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0223—Magnetic field sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49004—Electrical device making including measuring or testing of device or component part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/4902—Electromagnet, transformer or inductor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/4902—Electromagnet, transformer or inductor
    • Y10T29/49075—Electromagnet, transformer or inductor including permanent magnet or core

Definitions

  • the present invention relates to an apparatus for determining the position of an object by means of magnetic fields, and includes apparatus for monitoring the position of a probe within the body of a medical patient by means of magnetic fields.
  • Various methods have been utilized for determining the position and orientation of an object in space. For example, it is often necessary to determine the position and orientation of a medical instrument within the body of a patient as, for example, to monitor the position and orientation of a catheter, endoscope or other probe. It is desirable to present data showing the object superposed on a picture of the patient such as on an image showing internal organs.
  • One simple method of accomplishing this is to take a direct X-ray image, such as a fluoroscopic image, showing both the patient and the inserted probe.
  • This method has the disadvantage that the entire imaging procedure to acquire an image of the patient must be repeated whenever the probe is moved.
  • X-ray imaging such as fluoroscopy can be performed during some surgical procedures, but inherently expose the patient to unwanted ionizing radiation.
  • Some types of imaging procedures, such as MRI imaging cannot be repeated during surgery or other treatment procedures.
  • the probe may be mechanically constrained or linked to an arm or frame so that the position of the probe is constrained with respect to a fixed frame of reference and known with respect to that frame of reference.
  • An image of the probe may be superposed on an image of the patient, using the positional data derived from the fixed frame of reference.
  • these systems make the probe inflexible and hence impose severe disadvantages in the medical procedure itself. For example, one such system requires that a probe be advanced in a straight line to the area of interest. Systems of this nature are more suitable for positioning a probe on the outside of the body than inside the body.
  • Van Steenwyk et al. U.S. Patent 4,173,228; Pfeiler et al. U. S. Patent 5,042,486 and Dumoulin et al. U.S. Patent 5,211,165 all disclose arrangements wherein electromagnetic signals are propagated between one antenna on the tip of a medical catheter inserted in the body and several antennas outside of the body. The position and orientation of the catheter tip are assertedly determined from the signals transmitted between these antennas. That is, the relative position and orientation is deduced from the properties of the signal propagation path between these antennas as, for example, from the degree of signal attenuation in transit from one antenna to the others.
  • the Van Steenwyck patent notes the possibility of using a magnetic field and a Hall effect transducer sensor, but offers no details as to how this might be accomplished in a practical device.
  • Dumoulin suggests that the radio frequency derived position of a catheter tip can be superposed on an image acquired by an imaging system.
  • U.S. Patents 4,945,305; 4,849,692 and 4,613,866 all disclose systems for determining the position and orientation of objects in three-dimensional space using magnetic coils on the object to be located and stationary coils in a fixed frame of reference.
  • Other systems of this type include Voisin U.S. Patents 5,172,056 (disclosing an apparatus according to the preamble of claim 1) and 5,168,222; Constant U.S. Patent 4,396,885; Cantaloube U.S. Patent 5,109,194; Weed et al. U.S. Patent 4,317,078; Hansen U.S.
  • These systems typically employ a magnetic field transmitter incorporating several coils wound on orthogonal axes about an iron core, and a similar structure used as a receiver.
  • the coils of the transmitter are actuated in sequence and/or at different frequencies, and the signals detected by the coils of the receiver are analyzed to determine the position and orientation of the transmitter relative to the receiver.
  • the uses for such systems are three-dimensional data entry devices for computers and systems for detecting the position and orientation of a helmet.
  • Dumoulin C.L. et al.: "Real-Time Position Monitoring of Invasive Devices Using Magnetic Resonance", MRM 29:411-415 discloses the monitoring of the position of a device using a measurement of the RF magnetic fields generated by processing nuclear spins in the presence of magnetic gradient fields.
  • a device to be inserted into a subject has small integral RF coils, each coil being typically an untuned single loop less than 1mm in diameter.
  • a conventional 1.5-Tesla MR scanner is used to apply readout magnetic gradient fields so as to cause a dispersion in the resonant frequency (Larmor frequency) of the spins as a function of the position in the gradient magnetic field.
  • opposite-polarity readout gradients are used to produce gradient recalled echoes for each orthogonal direction, the position of the coil then being determined by averaging the positions.
  • the gradient fields are applied so that positional information from all three axes are multiplexed and acquired simultaneously.
  • the present invention provides apparatus for determining the position of an object, according to claim 1. Preferred embodiments are specified in the dependent claims.
  • Apparatus in accordance with one embodiment of the invention includes a frame structure 30 substantially surrounding a sensing or patient receiving volume 32.
  • Frame structure 30 supports three pairs of Helmholtz coils 34, 36 and 38 so that the coils of each pair are disposed coaxially with one another on three mutually orthogonal pair axes X, Y and Z.
  • the intersecting pair axes thus form a conventional Cartesian coordinate system having an origin 39 at the center of the sensing volume and having positive and negative directions from the origin along each of the X, Y and Z axes.
  • the coils of each pair are disposed on opposite sides of the sensing volume 32. All of the coils are circular, of equal diameter and have equal numbers of turns.
  • the two coils of each pair are wound co-directionally with one another.
  • both coils 34 arranged along the X axes have windings which wrap around the X axes in a right-handed or counterclockwise direction as seen from the positive end of the X axis.
  • the spacings between the coils are exaggerated for clarity of illustration in Fig. 1.
  • the distance between the coils of the pair as measured along the axes of the pair is between about 0.5 and about 1.4 times the diameter of each coil.
  • the coils, as well as frame 30, are constructed and arranged to permit insertion of a body part of a living patient into the sensing volume 32.
  • the frame has openings 40 coaxial with the various coils so that the patient's body may be inserted into the sensing volume 32 through one such opening 40 and so that the physician may gain access to the patient while the patient is within the sensing volume through the other openings.
  • the frame may be constructed of essentially any rigid material. Dielectric materials are preferred because they do not create eddy currents when magnetic fields are changed.
  • the frame may include quick-release or breakable connections between the various coils and frame elements. This allows the physician to move the coils and frame away from the patient immediately in the event of an emergency requiring totally unimpeded access to the patient.
  • Coil driver 42 includes a conventional DC power supply 47 and conventional switching devices schematically indicated at 48 for connecting the coils of each pair to the power supply 47 either in a forward configuration or in a reverse configuration as commanded by computer 46 through interface 44. In the forward configuration, the coils are connected in a series-aiding arrangement such that current passing through both coils of the pair flows in the same direction about the pair axis.
  • the coils 34 of the X-axis coil set are in the forward or series aiding configuration, they are connected in series so that current passing through both coils will flow counterclockwise around the X axes as seen from the positive-X end thereof.
  • the two coils of a pair are in the reverse configuration, they are connected in series opposition so that a current will pass through both coils in series, but will flow in opposite directions around the axis in the two coils of the pair.
  • Current will flow clockwise around the X axis in one coil 34 but counterclockwise around the X axis in the other coil 34.
  • the apparatus further includes a patient monitoring probe 50.
  • Monitoring probe 50 includes an elongated body 52 having a proximal end 54 and a distal end 56 adapted for insertion into the body of the patient.
  • the probe body 52 is an elongated, flexible shaft adopted to fit inside a conventional endoscope 53, which in turn may be introduced into the body.
  • Endoscope 53 has one or more bores or passageways for conducting surgical instruments, fluids and the like so as to introduce the same into the of the patient's body, and probe body 52 may fit within one such bore. Such bores or passageways may also be used for passage of endoscopic surgical instruments or other treatment devices or substances.
  • probe body 52 or the endoscope 53 may include known electrical, optical or electro-optical devices for providing a local image of the tissues surrounding distal end 56 such as video cameras and fiber-optic bundles.
  • the endoscope may be connected to conventional medical treatment apparatus 58 for introducing and/or withdrawing fluids, for observing the tissues surrounding the tip by means of the electrical or electro-optical devices and for performing other conventional medical treatment applications commonly performed through probes inserted into the body.
  • a sensor 60 is mounted to the probe body 52 adjacent the distal end 56.
  • sensor 60 includes a plurality of planar sensing elements 62, 64 and 66.
  • Element 62 is arranged normal to a common sensor axis X'.
  • the vector X' illustrated in Fig. 2 extending on the X' axis of the sensor is normal to planar sensing element 62.
  • element 64 is normal to the Y' direction of the sensor and element 66 is normal to the Z' direction.
  • the directions X', Y' and Z' are orthogonal to one another, and hence the planes of elements 62, 64 and 66 are perpendicular to one another as well.
  • sensing element 62 incorporates material providing a Hall effect so that the sensing element provides an output voltage proportional to the component of the magnetic field in the vicinity of the sensor normal to the face of the particular sensing element.
  • sensing element 62 incorporates a thin film of galvanomagnetic material such as indium arsenide, gallium arsenide or others, on its surface, a pair of excitation leads 68 connected to two opposite edges of the film and a pair of output voltage leads 70 connected to the remaining edges.
  • a voltage appears between leads 70 proportional to the component of the field perpendicular to the sensor surface.
  • V 062 K (B°X') + V I62 .
  • V 062 is the output voltage
  • K is a proportionality factor
  • V I62 is the output voltage from element 62 at zero applied magnetic field.
  • V 064 is the output voltage from element 64; Y' is the unit vector in the Y' direction; and V I64 is the output voltage from element 64 at zero applied magnetic field.
  • Z' is the unit vector in the Z' direction and V I66 is the output voltage from element 66 at zero applied magnetic field. Because the sensor is disposed in the distal tip 56 of probe body 52, the position and orientation of sensor 60 are not fixed with respect to the X, Y and Z reference directions of frame structure 30 and coils 34 - 38. Thus, the local axes X', Y' and Z' of sensor 60 can be at any orientation with respect to the axes X, Y and Z of the coils and frame structure.
  • the leads of sensor 60 including leads 68 and 70 and other leads associated with other sensing elements (not shown) are connected to a drive and amplification unit 72 (Fig. 1) via cable 75 extending through the body 52 of the probe.
  • Drive and amplification unit 72 is arranged to apply the appropriate excitation voltages to the elements of sensor 60 and to amplify the output voltages V 066 , V 064 , V 062 of the various sensing elements.
  • the drive and amplification unit 72 is connected to an analog to digital converter 74, which in turn is connected to an input of computer 46. Although only a single connection is shown, it should be appreciated that converter 74 is a multi-channel device, with multiple connections and/or with multiplexing arrangements for delivering digital representations of all of the output signals from all of the sensing elements in sensor 60 to computer 46.
  • the apparatus further includes a fiducial marker 76 (Fig. 1) which incorporates a sensor 80 and a marker body 78.
  • Marker body 78 is arranged for mounting to a body part of the patient in a substantially fixed position relative to such body part.
  • the marker body 78 may incorporate clamps, bands, rings or straps for fastening it onto the exterior of a patient's head, limb or torso.
  • body 78 may include apertures or notches to accommodate sutures, pins, surgical staples or other fastening devices.
  • the body of the fiducial marker may also be fastened to the patient's body with conventional surgical adhesive tape, bandages or the like.
  • At least one part of the fiducial marker such as the marker body 78, the sensor 80 or both is formed from a material which is detectable in a patient imaging technique such as X-ray, magnetic resonance imaging ("MRI"), computerized axial tomography (“CAT”), or other commonly utilized imaging modalities.
  • Sensor 80 of the fiducial marker is substantially the same as the sensor 60 of the monitoring probe 50.
  • Sensor 80 is connected to a drive and amplification unit 82, which in turn is connected through an analog to digital converter 84 to computer 46.
  • Unit 82 and converter 84 are similar to drive and amplification unit 72 and analog to digital converter 74.
  • the apparatus further includes an image storage unit 86 for storing an image of a patient, or of a body part of a patient, in digital form.
  • image storage unit 86 includes conventional computer memory devices.
  • An image input device 88 is also provided.
  • Input device 88 may include conventional digital data input devices such as disk drives, data communication links or the like for accepting images in digital form from any suitable imaging equipment such as x-ray equipment, MRI, CAT or video equipment, and for transferring the input images into image storage device 86.
  • a display monitor 90 is linked to computer 46. Display monitor 90 is equipped with manual input devices such as knobs 92, 94 and 96, and linked to computer 46 so that the settings of these knobs can be communicated to the computer.
  • the data input devices may also include a mouse, trackball, joystick or keyboard.
  • a body part of the patient such as the head, may be imaged using conventional imaging apparatus such as MRI, CAT, X-ray or the like, while the fiducial marker 76 is mounted on the body part.
  • the image data so acquired includes a depiction of the fiducial marker.
  • the magnetic sensor 80 is detachable from marker body 78, and if marker body 78 can be visualized by the imaging modality employed, then the sensor 80 may be disconnected from the marker body during this stage of the process. Also, the sensor of the fiducial marker may be disconnected from the remainder of the apparatus during this stage of the process.
  • the patient need not be, and typically is not, positioned in frame 30 or in the imaging volume 32.
  • the patient is imaged in an entirely separate room or facility.
  • the fiducial marker remains in place on the patient throughout the remainder of the process.
  • the image data depicting the patient's body part, including the depiction of fiducial marker 76, is transferred through input device 88 to image storage unit 86.
  • the image data may include an image in a single plane or, more desirably, images in plural planes or a fully three-dimensional image, such as a map of radioopacity or magnetic resonance activity over a full three-dimensional volume incorporating a portion of the body part.
  • the image data may be stored as output data wherein individual data elements represent densities or colors to be displayed on a pictorial representation of the image.
  • the image may be stored in the form of input data such as time domain or frequency domain representations of magnetic resonance signals, or unprocessed tomographic data, from which a pictorial representation can be reconstructed.
  • the body part of the patient is positioned within sensing volume 32.
  • Probe 50 is advanced into the patient's body using conventional techniques of the medical arts.
  • Computer 46 actuates coil driver 48 to operate the coils in a predetermined, repetitive sequence.
  • the sequence includes a null state, in which all of the coils are turned off and the only magnetic fields in sensing volume 32 are those introduced by extraneous sources, such as the earth's magnetic field, stray magnetic fields from nearby items and the like. Also, the sequence includes a forward or homogeneous-field stage for each set of coils.
  • each set of coils When each set of coils is being driven in its forward stage, in the aforementioned series-aiding configuration with codirectional current flow in both coils, such set provides a substantially homogeneous unidirectional magnetic field oriented along its axis.
  • the X-direction coils 34 in the forward state provides a field consisting essentially of flux directed parallel to the X-axis, of substantially equal magnitude throughout a central region of sensing volume 32, adjacent the midpoint of the sensing volume, i.e., the origin or intersection 39 of the X, Y and Z axes.
  • the field is homogeneous to within about 1% over a region extending from the origin and encompassing about 62% of the distance between the coils , and extending laterally outwardly from the axes for a distance equal to about 25% of the coil diameter.
  • the three coil sets are actuated separately, at different times during the sequence, so that only one coil set is active in the forward mode at any given time.
  • the sequence also includes gradient or reverse configuration mode actuation of each coil set.
  • the field generated by each coil set incorporates a component directed along the axis between the coils and having a substantially linear, uniform gradient along that axis.
  • the field has the configuration illustrated in Figs. 3, 4 and 5.
  • R x is the component of the reverse or gradient field in the X-direction, i.e., parallel to the X-axis. As seen in Fig. 3, this component has a low negative value at one end of the sensing volume.
  • the value or magnitude of the X-directed component at any given location along the X-axes is the same for any Y and Z.
  • R x thus is a function only of X, and is constant with respect to Y and Z.
  • the reverse or gradient field generated by X-axis coils 34 also includes a radial component perpendicular to the X axis.
  • the radial component is symmetrical about the X-axis and is directed away from the X axis.
  • the radial component resolves into a Y-directed component and a Z-directed component.
  • the Z-direction component Rz of the X-coil reverse or gradient field has a similar configuration (Fig. 5). Thus, R z is proportional to Z.
  • the proportionality constant or slope of R y versus Y is about one third of the proportionality constant for R x versus X.
  • the proportionality constant or slope for R z versus Z is also about one third of the proportionality constant for R x versus X.
  • Figs. 3, 4 and 5 refers to the various components of a single reverse or gradient field, generated by X-axis coils 34.
  • the reverse or gradient fields generated by the Y-axis coils 36 and by the Z-axes coils 38 have the same configurations, but along different axes.
  • the reversed or gradient field generated by Y-axis coils 36 has a component Ry which increases monotonically with increasing values of Y (with increasing displacement along the Y-axis in the +Y direction) but which it does not substantially vary with X or Z at any given value of Y.
  • the same Y-axis gradient field has a redial component perpendicular to the Y axis.
  • the redial component resolves to a component in the X-direction which is proportional to X and a component in the Z-direction proportional to Z.
  • the proportionality constants of the X and Z components with X and Z distance respectively, about one third the proportionality constant of the Y component with Y distance.
  • the reverse or gradient field generated by coils 38 includes an X-direction component proportional to X and a Y-directed component proportional to Y both of these proportionality constants being less than the proportionality constant of the Z-direction component.
  • each cycle may include actuation of each coil set to produce its respective uniform field, followed by actuation of each coil set to produce its reversed or gradient field followed by deactivation of all coil sets.
  • the sequence may include actuation of the X-direction coil set to produce its uniform field, then to produce its reversed or gradient field, followed by similar actuation of the Y and Z coil sets and deactivation of all coil sets, or any combination of these patterns.
  • computer 46 maintains a record of the coil actuation for each moment in the sequence, so that incoming data from sensors 60 and 80 can be associated with particular coil set activations. The full sequence is repeated rapidly so that each sequence takes about 10 to about 100 milliseconds.
  • computer 46 controls acquisition of data from sensors 60 and 80 so that signals representing each field are acquired at a preselected acquisition time during each switching cycle.
  • M i M c (1-e (-t/tau) )
  • the values acquired during all of the homogeneous-fields thus form a 3 X 3 matrix. These values are normalized by dividing each such value by the magnitude of the flux generated by the particular pair, i.e., by the magnitude of the total flux vector applied by the coil pair.
  • Hx sqrt[ (H x',x ) ⁇ 2 + (H y',x ) ⁇ 2 + (H z',x ) ⁇ 2]
  • Hy sqrt[ (H x',y ) ⁇ 2 + (H y',y ) ⁇ 2 + (H z',y ) ⁇ 2]
  • Hz sqrt[ (H x',z ) ⁇ 2 + (H y',z ) ⁇ 2 + (H z',z ) ⁇ 2]
  • H x is the magnitude of the magnetic flux applied by the X-axis coil set 34 during uniform field activation and H y2 and H z3 are similar magnitudes for the flux applied by the Y-axis set 36 and by the Z-axis set 38 respectively.
  • the term “sqrt” means "square root of” the expression in brackets; ⁇ 2 means the square of the preceding expression.
  • the orientation of the sensor the angles of the sensor X', Y' and Z' axes with respect to the X, Y and Z axes of the frame 30 and coil sets can be determined directly from the normalized values. Less than all of the values are needed for calculation of the orientation from all of the homogeneous fields.
  • the system selects a set of values having the highest magnitude, and hence the greatest signal to noise ratio, for use in the calculation.
  • the orientation of the sensor with respect to the X,Y,Z coordinate system of the coils can be expressed in many ways. Preferably, however, the orientation is expressed as three angles referred to a pitch, roll and yaw.
  • the system also acquires data representing the sensor readings acquired during application of the gradient fields.
  • the gradient field data is corrected by subtracting the null-field values for each sensor.
  • the corrected values are then taken as data representing sensor readings, and hence, field components in particular X' Y' and Z' directions during application of the gradient fields by the different coil sets.
  • R x',x represents the X' sensor reading, and hence the field component in the X' local direction of sensor 60 while the X-axis coils are operating in the reversed or gradient field mode
  • R x',y represents the similar component in the X' local direction during gradient field operation of the Y-axis coil pair and so on:
  • sqrt[ (R x',x ) ⁇ 2 + (R y',x ) ⁇ 2 + (R x x
  • the magnitude of the total flux vectors for each gradient field can be readily calculated as described above from the gradient field sensor readings R x',x ..R z',z , the direction of the gradient fields flux vector in the XYZ reference coordinate system defined by the coils is not ascertainable from these values alone.
  • the R x',x ...R z',z values represent components in the X', Y' and Z' local directions of the sensor.
  • the normalized homogeneous-field values H' 11 ...H' 33 are used in conjunction with the gradient field component values for each coil set to derive a projection of the total gradient field vector for each coil set onto the axis of that coil set, and thus derive the component of the gradient field vector on the axis of the coil set which was activated to produce that gradient field.
  • the system computes the magnitude of a difference vector between the total gradient field vector and the normalized unit magnitude homogeneous-field vector generated by the same coil pair. For example, as shown in Fig. 6, the system computes the magnitude of the difference vector d X representing the vector difference between the total flux B x during operation of the X-axis coil set in gradient mode and the normalized, unit length vector, H' x representing a unit vector in the direction of the flux during operation of the X-axis coil set in the homogeneous-field mode. That latter direction of course is along the X-axis of the coil sets.
  • the components of the difference vector in the X', Y', Z' local coordinate system of the sensor are calculable directly from the gradient field sensor values R x',x , R y',x , R z',x acquired during operation of the X coil set in gradient mode and from the normalized homogeneous-field sensor values H' x',x , H' y',x , H' z',x acquired during operation of the same coil set in homogeneous-field mode.
  • angle T x represents the angle between the gradient field total flux vector B x and the X-axis.
  • R x (
  • the component of flux during this operation of the X-direction coil set is substantially proportional to position in the X-direction (Fig. 3).
  • X Position (mm) (M x ) (R x )
  • M x is a conversion factor .
  • the conversion factor represents the slope of the function relating the X component of flux R x to distance in the X direction.
  • M x may also be scaled to take account of the sensitivity of the various elements in the sensor and the gains of the various amplification channels, assuming all of these are equal for all of the sensors.
  • additional sensitivity scaling factors may be applied to convert the voltages V 062 , V 064 , V 066 derived from each sensing element into actual numerical values of the magnetic flux components, so that separate scaling factors are applied to the readings from the different sensing elements.
  • the difference vectors and angles are computed in the exactly analogous way to derive the Y-axis component R y of the flux vector B y detected at sensor 60 during operation of the Y-direction coil set in the gradient mode and to derive the Z-axis component Rz in the z direction during gradient operation of the Z-axis coils.
  • the magnitudes of the difference vectors are calculated as:
  • sqrt [(R x',y - H' x',y ) ⁇ 2+ (R y',y -H' y',y ) ⁇ 2 + (R z',y -H' z',y ) ⁇ 2] and
  • sqrt [(R x',z -H' x',z ) ⁇ 2 + (R y',z - H' y',z ) ⁇ 2 + (R z',z -H' z',z ) ⁇ 2]
  • are the magnitudes of the difference vectors associated with the Y-axis and Z-axis coils, in the same way as
  • )] and Tz arccos [(1+
  • the conversion factor M x relating X-direction position to the magnitude of the X-direction component R x is assumed to be exactly constant and exactly uniform for all values of Y and Z.
  • the corresponding conversion factors relating Y-direction position to magnitude of the Y-direction flux component and relating Z-direction position to magnitude of the Z-direction flux component are assumed constant.
  • the accuracy of the position determination can be enhanced by calibrating the instrument to derive a map of actual conversion factors for various positions in the sensing volume. In the calibration step, the actual magnitude of the field component in each axial direction is measured at various known values of X,Y and Z during reverse or gradient-field operation of the coil set associated with that axis.
  • the Y-direction component is measured at known locations during gradient-field operation of the Y-axis coil set.
  • Each gradient field is substantially symmetrical about the axis of the associated coil set. Therefore, the calibrating measurements can be taken at points on a single plane including the axis of the coil set, and the same values can be assumed to apply to the points corresponding to rotation of the actually-measured points about the axis of the coil set.
  • the measured magnitudes are used to derive actual conversion factors applicable at each of the known positions.
  • the same data is used to derive average conversion factors for each direction, applicable to the sensing volume as a whole, as by finding the single factor for a given direction which best fits all of the data acquired in calibration.
  • the X, Y and Z coordinates of the sensor are determined as a first approximation using the average conversion factors and the measured values of gradient-field components R x , Ry y and R z . These first-approximation coordinates are then used to determine actual conversion factors by interpolation between the actual conversion factors for the closest points where measurements were taken during the calibration step of the process. The resulting conversion factors are then applied with the measured values of the gradient-field components R x , Ry y and R z to determine second approximated coordinates, which are in turn used to determine new values for the actual conversion factors by interpolation in the calibration data. These steps are repeated until the approximation converges to constant values of the various coordinates, which represent the best approximation of position.
  • the computer acquires flux component values from the sensing elements of sensor 80 on fiducial marker 76. On each cycle of the coils, the computer drives the position and orientation of the fiducial marker as well.
  • Computer 46 takes the data defining the image of the patient's body part from storage device 86 and displays a pictorial representation of the image I on monitor 90. Because the image of the patient's body part acquired during the previous imaging step includes a depiction of fiducial marker 76, the displayed image I will include a pictorial depiction 102 of the fiducial marker 76.
  • the computer also actuates monitor 90 to display a pictorial representation 104 of fiducial marker 76 at a location on the monitor screen. Representation 104 is displayed at a position corresponding to its position in the XYZ frame of reference, i.e., to the position of the fiducial marker as derived from the magnetic field measurements.
  • the orientation of representation 104 is set to correspond to the orientation of the fiducial marker determined from the magnetic field measurements. If the representations 104 of the fiducial marker is in registration with depiction 102 of the same marker on the monitor screen, this indicates that the image of the patient's body part is displayed at a location and orientation on the monitor screen corresponding to the location and orientation of the body part within the XYZ reference coordinate system.
  • the image I of the patient's body part is typically misregistered.
  • the depiction 102 of the fiducial marker incorporated in the image is out of registration with the representation 104 of the fiducial marker derived from the magnetic positioning and orientation data.
  • the user manually instructs the computer to reorient the image by applying appropriate inputs to manual input devices 92, 94 and 96 to shift and turn the image until the depiction 102 overlies the representation 104 and so that these two pictorial elements are properly aligned with one another.
  • the manual adjustments to the image may include selection of an image in the correct plane to show the depiction 102 of the fiducial sensor in a true size, with the imaging plane cutting through the sensor.
  • a further "lock" signal is sent to the computer through a conventional data input device such as a keyboard 106 indicating that such registration has been accomplished.
  • a conventional data input device such as a keyboard 106 indicating that such registration has been accomplished.
  • the computer After receipt of the "lock” signal the computer continually maintains registration of the fiducial marker depiction 102 in the image with the magnetic data-derived representation 104 of the fiducial marker.
  • the computer will shift the magnetic field derived representation 104 of the fiducial marker on monitor 90 accordingly, and will also transform the image I, including the depiction 102 of the fiducial marker, in the same way.
  • the patient there is no need for the patient to remain in a fixed position during the procedure.
  • the particular image I shown in Fig. 1 is an image taken on a cutting plane parallel to the Y-Z axes. If the position and orientation data for the fiducial marker 76 derived from the magnetic field measurements indicates that the patient's body part has moved by in the +Y direction and has rotated clockwise around the +X axes since the image was initially brought into registration, then computer 46 will transform the image and actuate monitor 90 to show the image displaced and rotated in the corresponding directions on the monitor screen.
  • Methods of transforming stored images to show displacements and rotations in two and three dimensions are well known in the art, and need not be described in detail here. However, such methods are commonly employed to show the image transformed in response to arbitrarily input displacements and positions.
  • the transformation techniques are applied in response to true displacements and rotations of the body part measured by the magnetic field monitoring system.
  • the image I of the patient's body part is displayed on the screen of monitor 90 in a position corresponding to its true position and orientation in the XYZ reference coordinates of the frame and coils.
  • the computer actuates display 90 to show a representation 108 of at least the distal end 56 of the probe 50.
  • the position and orientation of representation 108 correspond to the position and orientation of the distal tip 56 derived from magnetic field measurements by sensor 60.
  • the combined representation 108 and image I on the monitor screen accurately depict the position of the probe distal tip 56 relative to the patient's body part.
  • the representation of the monitoring probe tip 56 and of fiducial marker 76 may be pictorial representations or else may be schematic representations such as lines, arrows or the like.
  • the system will continually show the true relationship between the probe tip and the patient's body part.
  • the system provides a result similar to that which would be achieved by continually imaging the patient during the medical procedure, as by continually taking X-ray, CAT, or MRI images to show the probe tip.
  • the magnetic field monitoring steps according to this embodiment of the invention do not interfere with the ongoing medical procedure. No ionizing radiation is employed.
  • the magnetic fields used are so small that they do not exert any significant, perceptible forces on magnetic materials in the sensing region.
  • the system is also substantially insensitive to the presence of magnetic materials and/or stray electromagnetic fields in the sensing volume.
  • the coils typically provide good access to the sensing volume for the position to reach the patient through the openings 40, so that the physician can conduct the required procedure. Further, the coils and the supporting structure can be removed immediately for even better access of an emergency crises during the procedure.
  • the ability of the present system to provide accurate positional information, and to superpose a representation of the probe on an image of the patient's body is useful in many medical procedures, but is especially valuable in procedures where an endoscopic instrument is to be used in the brain.
  • endoscopic instruments typically are equipped with devices such as miniature video cameras, fiberoptics or the like which provide an image of the tissues immediately surrounding the distal tip of the endoscope, such images do not permit the physician to establish the location of the tip in the brain, simply because many regions of the brain present the same endoscopic appearance.
  • the physician can monitor the location and orientation of the instrument by viewing the representation of the distal tip of the probe against an image of the brain.
  • the endoscopic instrument equipped with the probe can be used to perform surgical operations or other treatments in the brain, as by positioning the endoscope using the probe, removing the probe from the bore of the endoscope body 53 and then passing conventional endoscopic surgical instruments through the bore of the endoscope.
  • the endoscope may have two bores, or one large bore, so that instruments may be inserted while the probe remains in place.
  • the sensor 60 may be mounted at the distal tip of the endoscope itself, so that the endoscope body 53 serves as the probe body.
  • the methods and apparatus discussed above can also be used in all other areas of the body as, for example, in the spinal column; heart; otolaryngological tract; urogenital tract and organs; abdomen; and lungs.
  • Additional embodiments of the invention provide a frameless stereotactic system.
  • a rigid probe is guided by a frame mounted outside of the patient's body and fixed to a body part, so that the tip of the probe can be positioned at a precise location within the body.
  • the frame may be fixed to the skull and the probe advanced along a preselected line set by the frame.
  • no frame is necessary; the position of the probe relative to the patient is determined from the measured magnetic field components at the probe and at the fiducial marker on the patient.
  • the magnetic sensor on the probe may be disposed at the proximal end of the probe, which remains outside of the patient's body during the procedure.
  • the computer system is arranged to calculate the position of the probe tip from the position and orientation of the sensor.
  • a plurality of body parts such as the portions of a patient's limb 174 and 175 (Fig. 7) joined at a common joint 177 may be provided with probes 176A and 176B respectively.
  • Each such probe is similar to the fiducial marker 76 discussed above with reference to Fig. 1.
  • Probe 176A is fastened by a band 180 to limb 174 so that the probe is held in substantially fixed position relative to the bone 182 within limb portion 174.
  • the probe 176 may be fastened directly to the bone, as by surgically inserting the probe into the limb, or by connecting the probe to pins (not shown) extending through the soft tissues of the limb to the bone.
  • probe 176B is fastened to limb portion 175 so that the probe is held in fixed position relative to the bone 183.
  • an image of the body parts is acquired, as by X-ray, CAT, MRI or other imaging modality.
  • the image includes images of probes 176A and 176B, as well as images of bones 182 and 183, and may also include images of other body parts such as the surrounding soft tissues.
  • the image is input and stored in an image storage unit associated with computer 46.
  • the limb is then placed in the sensing volume 32 of the apparatus.
  • Sensors incorporated in probes 176A and 176B are connected to the drive and amplification units 72 and 82 of the apparatus.
  • the positions and orientations of these probes are acquired by the apparatus based upon magnetic field measurements in the same way as discussed above with reference to Figs. 1 - 6.
  • the positions and orientations of the two sensors are monitored simultaneously.
  • the images I 182 and I 183 showing the two bones 182 and 183 are displayed on the monitor screen 90 by the computer.
  • the displayed images include a depiction 186A of probe 176A and a further depiction of 186B of probe 176B.
  • the computer also displays representations 188A and 188B of probes 176A and 176B at positions corresponding to the positions of the probes determined by the magnetic field measurements.
  • the user actuates the computer to change the position of Image I 182 until the depiction 186A of probe 176A in the image overlies the magnetic-field based representation 188A and is aligned therewith, whereupon the user inputs a lock signal.
  • the user separately manually adjusts the position of image I 183 until the depiction 186B of probe 176B is superposed on the representation 188B derived from the magnetic field data in the correct alignment therewith. At this point, the user inputs a further lock signal.
  • both body parts are in initial, reference positions. Any subsequent movement of either probe 176A or 176B detected by magnetic field measurements is taken as showing movement of the associated body part 174 or 175.
  • the computer transforms the image I 182 of the associated bone 182 to the transformed image I' 182 (Fig. 8).
  • the rotation and/or translation applied to image I 182 to form transformed image I' I82 correspond to the rotation and translation of the probe in going from its starting position 176A to its moved position 176A'.
  • each body part is treated independently, in accordance with position and orientation data derived from the associated probe.
  • the system shows the images of the body parts, in particular, of bones 182 and 183, in true relative position and orientation as the bones move relative to one another.
  • the system provides the equivalent of a continuous imaging system, such as a fluoroscopic imaging system, without the disadvantages thereof.
  • the same system can also show the orientation and position of one or more medical instruments, such as one or more probes equipped with sensors as discussed above with reference to probe 50 of Fig. 1.
  • the images I 182 and I 183 are shown as including the depictions 186A and 186B of the probes.
  • the images have been brought into registration with the XYZ coordinate system by aligning the depictions of the probes with the magnetic field-based representations 188A and 188B, there is no need for further visible display of the probe depictions 186 or of the probe representations 188.
  • the display may depict only the area of interest, such as at joint 177.
  • the image of the patient is brought into registration with the XYZ coordinate system by manual alignment of the magnetic field derived representation of the probe with or marker with a depiction of the probe or marker in the image itself.
  • this step can be automated, as by using automatic pattern recognition equipment to detect a depiction of the fiducial marker or probe in the patient image. With such automation, it is unnecessary to display a visible depiction or representation of a fiducial marker or probe.
  • Fig. 1 only one fiducial marker is provided on the patient's body part. Registration of the image data with the coordinate system thus depends upon the positional and orientation data for this single marker.
  • a plurality of fiducial markers and preferably three fiducial markers are employed at spaced apart, non-colinear locations on the patient's body part.
  • plural probes may be mounted to each.
  • the patient's body part may be registered with the XYZ reference coordinate system through means other than a fiducial marker.
  • the patient's body part is fixed to frame 30 at a known location and orientation, and the image I of the body part is displayed on monitor 90 at a location corresponding to this known location.
  • the position and orientation of the patient's body part, such as the head shown in Fig. 1 is determined by mechanical or other non-magnetic measuring devices and that data is used to determine the proper position and orientation of the image I on screen 90.
  • a sensor used in a further embodiment of the invention includes three field-sensing elements in the form of semiconductor chips 250.
  • Each chip includes one or more elongated bars of magnetoresistive material 252.
  • Each such chip is sensitive to magnetic field components in the direction of the bars.
  • the sensor further includes a foldable, sheetlike support 254 including a dielectric layer and having conductors 256 on the dielectric layer.
  • Support 254 desirably is formed from a polyimide material of the type commonly used for flexible, tapelike electronic circuitry.
  • Support 254 is initially in a generally cruciform shape as seen in Fig.9.
  • the support includes a rectangular or square central panel 262, a tip panel 264 projecting from one edge of central panel 262, and a pair of side panels 266 and 268 projecting from opposite edges of the central panel.
  • the support further includes an elongated strip 266 projecting from the edge of central panel 262 opposite from tip panel 264.
  • One chip 250 is mounted on central panel 262; another is mounted on tip panel 264 and the third chip 250 is mounted on side panel 266.
  • the magnetoresistive bars 252 of the chip mounted on side panel 266 are parallel to the bars 252 of the chip mounted on tip panel 264, but both are orthogonal to the bars of the chip mounted on center panel 262.
  • An amplification chip 260 is mounted to the elongated strip 266 of the support adjacent its juncture with the central panel 262.
  • the components can be mounted on the support using conventional semiconductor mounting and connecting techniques adapted to operate on planar circuit panels..
  • Core 270 is substantially in the form of a rectangular solid or cube, and preferably is formed from a dielectric material.
  • the central panel 262 is positioned on one face 272 of the support.
  • the tip panel 264, side panels 266 and 268 and strip 266 are folded over the edges of the core so as to position these on faces of the core adjoining face 272. The panels and strips are secured in position on the core.
  • the finished sensor has magnetoresistive sensing elements 250 on three orthogonal faces of the cube, and the bars of the three elements extend in three orthogonal directions.
  • the entire sensor, including the magnetoresistive elements, the temperature sensor 258 and amplifier 260 desirably is less than about 5mm, and more preferably less than about 1mm in width and thickness.
  • the sensor according to this embodiment may be mounted in an elongated probe body 280 so that the sensing elements are disposed at or near the distal tip of the probe body, and so that the elongated strip 266 of the sensor, and the conductors 256 thereon, extend towards the proximal end of the probe body for connection to external conductors (not shown).
  • the compact construction of the sensor permits use of a probe body having a very small diameter, desirably about 0.8 mm or less.
  • a probe according to this embodiment can be used in methods as discussed above. In this sensor, each sensing element is sensitive to field components in one direction parallel to the face of the sensor, rather than normal to the face as in the sensors discussed above. Also, the built-in amplifier at the sensor enhances the signal-to-noise ratio. Otherwise, the probe is used in the same manner as discussed above.
  • the probe of Figs. 9 and 10 is employed to take physiologic temperature measurements within the patient's body.
  • the probe is inserted into the patient's body, and the distal tip of the probe is moved over a range of positions within the body.
  • the magnetic field monitoring system keeps track of the location of the distal tip within the XYZ reference direction coordinate system of the frame, so that each temperature measurement is associated with a position in that coordinate system.
  • a map of temperature versus position is stored in the memory of computer 46.
  • such a map is displayed or stored in association with an image of the relevant body part of the patient.
  • the temperatures measured by the probe can be mapped onto the features of the body part as, for example, by shading or coloring various portions of the image to correspond with different temperatures or by showing contour lines overlaid on the body image as illustrated in Fig. 11.
  • Probes and methods as described with reference to Figs. 9 - 11 can be utilized for example by inserting the probes into the body through natural body orifices to probe cavities such as the intestinal tract, urinary tract, and respiratory tract and detect regions of locally elevated temperature. Such regions are often associated with pathological conditions such as malignant tumors. Further, once such a region has been located and precisely mapped, the physician can use the same or a different probe to examine the area visually and/or to perform biopsy, surgical, excision or other treatment.
  • the temperature sensitive element 258 may be replaced or supplemented by one or more elements sensitive to any other physiologic variables, such as pH, ionic concentration, or others. Also the element or elements sensitive to temperature or to other physiologic variables can be formed separately from the magnetic sensor.
  • the mapped data may be displayed alone in pictorial form or otherwise.
  • a pictorial representation showing a region of elevated temperature can show the size and shape of a tumor even without superposition.
  • the maps of the physiologic data desirably are derived and displayed in real time, during the procedure, so that the displayed maps (with or without superposed body part images) can guide the physician in further mapping.
  • the physician may first move the probe over a limited number of widely-spaced locations in the region of interest to derive a coarse map. This coarse map can be used to locate regions requiring fine examination by mapping of closely-spaced points.
  • the Z-axes coils, and the corresponding uniform and gradient fields are omitted.
  • the system uses only two orthogonally directed uniform fields and gradient fields from only two coil sets.
  • the system can still derive the position and orientation of the probes in three dimensions.
  • the flux vectors for the uniform X, Y and Z fields are orthogonal to one another, the flux vector for any one uniform field can be calculated by calculating the cross-product of the other two.
  • the components which a hypothetical third uniform field flux vector would have in the X',Y',Z' coordinate system of the sensor can be calculated from the actual components of the other two uniform-field flux vectors in the same coordinate system.
  • H'x',z ( H'y',x * H'z',y-H'y',y*Hz',x )
  • H'y',z (H'z',x*Hx',y - H'z',y * H'x',x)
  • H'z',z (H'x',x*Hy',y - H'x',y * H'y',x)
  • the system calculates the magnitude of the projection of the reverse-field or gradient flux vector for each coil set onto axis of that coil set.
  • the measured values for the reverse-field flux vector from one coil set can be eliminated.
  • the system calculates a projection of one of the flux vectors from one of the two remaining coil sets onto the third axis, as well as onto the axis of the coil set itself. This can be accomplished computationally by simply copying the values for one coil pair (one column in Table II) into the values for the third coil pair.
  • the Y-direction field has its principal component along the Y-axis, and only a radial component along the Z-axis, the magnitude R z of the Z-axis component at any given Z-direction distance from the origin will be about -0.36 times the magnitude R y of the Y-direction component at an equal Y-direction distance.
  • the Z-direction gradient dRz/dZ is about -0.36 the Y-direction gradient dR y /dY, and the conversion factor M z used to convert Z-axis flux component to Z-axis distance is adjusted accordingly.
  • the Z-axis conversion factor will be measured during Y-axis coil set activation.
  • the system according to this variant needs only two orthogonal coil sets, and thus provides even better access to the patient for the physician.
  • the various coil sets are actuated alternately, so that only one coil set is operating at any given time.
  • the predetermined time sequence of magnetic fields used in other embodiments of the invention may include two or more fields applied simultaneously.
  • the simultaneously-applied fields desirably are varied at different frequencies.
  • the signals from the sensors representing the magnetic fields will incorporate separate components varying at these different frequencies. Each such component represents the sensor reading for one field.
  • These components can be segregated by conventional filtering techniques and then evaluated separately to provided separate readings for the separate fields. For example, the magnitude of the AC waveform at each frequency can be evaluated separately.
  • the magnetic fields are applied by coaxially positioned Helmholtz coils.
  • each field component which is measured in the present invention is quasilinear s with distance in a direction within the sensing volume.
  • a component magnitude is "quasilinear" with distance in a particular direction if the magnitude can be described by a polynomial function of position in such direction of the form: a 0 q 0 + a 1 q 1 + a 2 q 2 + a 3 q 3 ⁇ a n q n in which q is position and in which the constant (zero-power) term, the first-power term or the sum of these terms predominates over the other terms.
  • the sum (a 0 q 0 + a 1 q 1 ) should be at least twice the sum (a 2 q 2 + a 3 q 3 ....a n q n ).
  • (a 0 q 0 + a 1 q 1 ) is at least 5 times, and more preferably at least 10 times the sum (a 2 q 2 + a 3 q 3 ....a n q n ).
  • a 0 q 0 predominates in the homogeneous fields the other terms being as close to zero as is practicable, whereas in the gradient fields, a 1 q 1 predominates, and all of the other terms are as close to zero as is practicable. If a particular field includes components which are not measured in determining position or orientation, those extraneous components need not be quasilinear.

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Claims (18)

  1. Appareil pour déterminer la position d'un objet, comprenant :
    un moyen magnétique (34, 36, 38) conçu pour produire une pluralité de champs magnétiques à gradient différents dans un volume de détection (32) ;
    un moyen de commande (42) conçu pour activer ledit moyen magnétique (34, 36, 38) afin de produire lesdits champs dans un ordre prédéterminé ;
    un capteur (60) conçu pour détecter les composantes du champ magnétique dans au moins deux directions locales différentes par rapport au capteur (60) et pour fournir des données séparées représentant chacune desdites composantes ; et
    un moyen de calcul (46) conçu pour déterminer la position dudit capteur (60) à partir desdites données représentant lesdites composantes de champ magnétique détectées pendant la production desdits champs,
       caractérisé en ce que chacun desdits champs à gradient, produits par le moyen magnétique (34, 36, 38), est un champ magnétique ayant au moins une composante dont l'amplitude varie en fonction de la distance d'une manière quasi-linéaire, dans une direction de référence au sein dudit volume de détection, si bien que ladite amplitude peut être décrite par une fonction polynomiale de la position dans cette direction, de la forme a0q0 + a1q1 + a2q2 + ... anqn, dans laquelle q est la position et dans laquelle le terme constant, le terme à la puissance un ou la somme de ces termes est au moins double de la somme des autres termes, ladite amplitude étant non nulle en au moins certains points à l'intérieur dudit volume de détection (32).
  2. Appareil selon la revendication 1, dans lequel ledit moyen magnétique (34, 36, 38) comprend un moyen conçu pour produire un premier champ magnétique substantiellement uniforme dans une première direction de référence au sein dudit volume de détection (32) et un deuxième champ magnétique substantiellement uniforme dans une deuxième direction de référence différente (32) de ladite première direction, au sein dudit volume de détection, et un premier et un deuxième champs à gradient au sein dudit volume de détection (32), chacun desdits champs à gradient ayant un motif prédéterminé de variation dans ledit volume de détection (32), ledit moyen de commande étant conçu pour activer ledit moyen magnétique (34, 36, 38) afin de produire lesdits champs à gradient en séquence avec lesdits champs uniformes, ledit moyen de calcul (46) étant conçu pour déterminer la position dudit capteur (60) dans ladite première et dans ladite deuxième direction de référence au sein dudit volume de détection à partir desdites composantes de champ magnétique détectées pendant la production desdits champs à gradient et desdits champs uniformes.
  3. Appareil selon la revendication 2, dans lequel ledit moyen magnétique comprend un moyen adapté pour produire un troisième champ substantiellement uniforme dans ledit volume de détection (32), dans une troisième direction de référence, différente desdites première et deuxième directions de référence, et pour produire un troisième champ à gradient ayant un motif de variation prédéterminé dans ledit volume de détection (32), ledit moyen de commande (42) étant conçu pour activer ledit troisième moyen magnétique pour produire lesdits troisièmes champs uniforme et à gradient, en séquence avec lesdits premier et deuxième champs uniforme et champ à gradient, ledit moyen de capteur (60) étant conçu pour détecter les composantes de champ magnétique dans trois directions locales différentes par rapport à ladite sonde, ledit moyen de calcul (46) étant conçu pour déterminer la position de ladite sonde (60) dans ledit volume de détection (32) dans lesdites trois directions de référence.
  4. Appareil selon la revendication 1 ou la revendication 2 ou la revendication 3, dans lequel ledit capteur (60) possède des dimensions maximales qui sont inférieures à environ 5 mm.
  5. Appareil selon la revendication 4, dans lequel lesdites dimensions maximales sont inférieures à environ 1 mm.
  6. Appareil selon la revendication 4, dans lequel ledit capteur (60) est conçu pour être placé à l'intérieur du corps d'un patient humain.
  7. Appareil selon la revendication 6, dans lequel ledit volume de détection (32) a des dimensions minimales d'au moins environ 30 cm.
  8. Appareil selon la revendication 4, dans lequel ledit capteur (60) comprend un corps de détection (52) possédant une pluralité de faces orientées dans différentes directions et des couches magnétiquement sensibles placées sur lesdites faces.
  9. Appareil selon la revendication 2 ou la revendication 3, dans lequel ledit moyen magnétique (34, 36, 38) est conçu pour produire lesdits champs à gradient de telle manière que chaque champ à gradient comprenne une composante dont l'amplitude varie selon un gradient monotone substantiellement linéaire dans l'une desdites directions de référence dans ledit volume de détection.
  10. Appareil selon la revendication 1 ou la revendication 2 ou la revendication 3, dans lequel ledit moyen magnétique (34, 36, 38) comprend une pluralité de paires de bobines, les bobines de chaque paire étant disposées sur des côtés opposés dudit volume de détection (32).
  11. Appareil selon la revendication 10, dans lequel lesdites bobines de chacune desdites paires (34, 36, 38) sont des bobines de Helmholtz disposées d'une manière substantiellement coaxiale l'une par rapport à l'autre, afin que l'axe de chacune desdites paires s'étende dans l'une desdites directions de référence.
  12. Appareil selon la revendication 1 ou la revendication 2 ou la revendication 3, dans lequel ledit moyen de commande (42) est conçu pour mettre ledit moyen magnétique (34, 36, 38) dans un état d'arrêt dans lequel ledit moyen magnétique (34, 36, 38) ne fournit aucun champ dans ledit volume de détection, ledit moyen de calcul (46) comprenant un moyen d'enregistrer les valeurs de base des composantes de champ magnétique dans lesdites directions locales qui sont mesurées par ledit capteur lorsque ledit moyen magnétique (34, 36, 38) est dans ledit état d'arrêt et de corriger les composantes mesurées lorsque ledit moyen magnétique (34, 36, 38) est dans d'autres états, en fonction desdites valeurs de base.
  13. Appareil selon la revendication 1 ou la revendication 2 ou la revendication 3, dans lequel ledit moyen de calcul (46) comprend un moyen pour déterminer l'orientation dudit capteur (60) dans ledit volume de détection (32) sur la base des composantes de champ magnétique détectées par ledit capteur (60).
  14. Appareil selon la revendication 1, dans lequel :
    ledit moyen magnétique comprend une structure d'aimants (34, 36, 38) composée d'au moins deux paires de bobines de Helmholtz, les bobines de chacune desdites paires étant disposées d'une manière substantiellement coaxiale l'une par rapport à l'autre et définissant un axe de paire, sur des côtés opposés d'un volume de détection (32), les axes desdites paires étant substantiellement orthogonaux l'un par rapport à l'autre ;
    ledit moyen de commande (42) est conçu pour activer sélectivement chacune desdites paires de bobines de Helmholtz dans un état de champ homogène avec circulation d'un courant dans le même sens dans les deux bobines de la paire, afin de produire ainsi un champ magnétique qui est dirigé parallèlement à l'axe de la paire et qui est d'une intensité substantiellement uniforme dans ledit volume de détection, ledit moyen de commande (42) étant également conçu pour activer chacune desdites paires de bobines de Helmholtz dans un état de champ à gradient, avec circulation d'un courant en sens inverse dans les bobines de la paire, afin de produire ainsi un champ magnétique ayant une composante dirigée parallèlement à l'axe de la paire, cette composante ayant un gradient d'amplitude substantiellement linéaire dans ledit volume de détection, ledit moyen de commande étant conçu pour activer ladite structure d'aimants de manière à ce qu'une seule paire de bobines soit activée dans un seul état à la fois ;
    l'appareil comprend une sonde pouvant se déplacer dans ledit volume de détection, ledit capteur (60) étant monté sur ladite sonde, si bien que ledit capteur (60) est adapté pour mesurer les composantes du champ homogène dans lesdites directions locales lorsque des paires de bobines sont dans lesdits états de champ homogène et ledit capteur (60) est adapté pour mesurer les composantes du champ à gradient dans lesdites directions locales lorsque lesdites paires de bobines sont dans lesdits états de champ à gradient ; et
    ledit moyen de calcul (46) est adapté pour déterminer l'orientation dudit capteur et de ladite sonde (50) par rapport auxdits axes de paires, à partir desdites composantes de champ homogène, et agencé pour déterminer la position dudit capteur et de ladite sonde (50) dans ledit volume de détection (32), à partir desdites composantes de champ homogène et desdites composantes de champ à gradient.
  15. Appareil selon la revendication 14, dans lequel ladite structure d'aimants comprend trois paires desdites bobines de Helmholtz (34, 36, 38) et dans lequel ledit moyen de capteur (60) comprend un moyen de mesure des composantes de champ magnétique dans trois desdites directions locales qui sont orthogonales entre elles.
  16. Appareil selon la revendication 14, dans lequel ladite sonde (50) est conçue pour être disposée dans le corps d'un patient humain.
  17. Appareil selon la revendication 16, dans lequel ladite sonde (50) est un élément souple allongé ayant une extrémité proximale et une extrémité distale (56) et ledit capteur (60) est disposé à proximité immédiate de ladite extrémité distale (56).
  18. Appareil selon la revendication 16, dans lequel lesdites paires de bobines de Helmholtz (35, 36, 38) sont écartées l'une de l'autre de distances d'au moins 30 cm environ.
EP94930045A 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation Expired - Lifetime EP0722290B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP06076975A EP1757949A3 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP10177173.1A EP2264474A3 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation
EP05075076A EP1530057B1 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation
EP10177196.2A EP2264475B1 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US132479 1987-12-14
US08/132,479 US5558091A (en) 1993-10-06 1993-10-06 Magnetic determination of position and orientation
PCT/US1994/011298 WO1995009562A1 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation

Related Child Applications (3)

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EP10177173.1A Division EP2264474A3 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation
EP10177196.2A Division EP2264475B1 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP05075076A Division EP1530057B1 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation

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EP0722290A1 EP0722290A1 (fr) 1996-07-24
EP0722290A4 EP0722290A4 (fr) 1999-03-10
EP0722290B1 true EP0722290B1 (fr) 2005-01-19

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EP10177196.2A Expired - Lifetime EP2264475B1 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP94930045A Expired - Lifetime EP0722290B1 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP05075076A Expired - Lifetime EP1530057B1 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation
EP06076975A Withdrawn EP1757949A3 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP10177173.1A Withdrawn EP2264474A3 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation

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EP05075076A Expired - Lifetime EP1530057B1 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation
EP06076975A Withdrawn EP1757949A3 (fr) 1993-10-06 1994-10-06 Determination magnetique de position et d'orientation
EP10177173.1A Withdrawn EP2264474A3 (fr) 1993-10-06 1994-10-06 Détermination magnétique de position et d'orientation

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US (3) US5558091A (fr)
EP (5) EP2264475B1 (fr)
JP (3) JPH09503410A (fr)
CN (1) CN1149052C (fr)
AT (2) ATE459009T1 (fr)
AU (2) AU685859B2 (fr)
CA (2) CA2172619C (fr)
DE (2) DE69434240T2 (fr)
ES (1) ES2236695T3 (fr)
PT (1) PT722290E (fr)
WO (1) WO1995009562A1 (fr)

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AU709793B2 (en) 1999-09-09
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EP1757949A2 (fr) 2007-02-28
JP2004154556A (ja) 2004-06-03
EP1530057B1 (fr) 2010-02-24
EP2264474A2 (fr) 2010-12-22
ATE287239T1 (de) 2005-02-15
PT722290E (pt) 2005-05-31
DE69434240D1 (de) 2005-02-24
EP2264475A2 (fr) 2010-12-22
EP1530057A3 (fr) 2006-06-07
WO1995009562A1 (fr) 1995-04-13
EP2264475A3 (fr) 2016-08-03
CA2172619A1 (fr) 1995-04-13
CN1132470A (zh) 1996-10-02
US5558091A (en) 1996-09-24

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